具有力觉临场感的遥操作操纵器关键技术研究

具有力觉临场感的遥操作操纵器是主、从遥操作系统重要的人机接口，它可以向远端从机械手传送位置、姿态、速度和力等多种信息，同时可以接收从机械手的力/力矩等信息，为操作者提供力觉临场感。其性能直接影响遥操作系统的透明性、稳定性，提供有效的力觉反馈是其研究、设计的关键。对力觉临场感操纵器设计中位置控制精度、操纵器的动态特性、操纵器的各向同性、稳定性、人体工程学指标等方面的性能要求进行了分析，对其结构形式、各向同性与结构非奇异性等结构设计方面的问题进行了研究，对各种驱动方式的特点进行了比较，并对检测与控制系统结构对于系统性能的影响进行了研究。研究表明，在结构设计时，采用机械上解耦、运行过程中惯性保持不变的机械结构，将使控制算法简化。研究结果对于该类装置的研究与开发具有借鉴作用。

Research on key technologies of controller for teleoperation force reflecting telepresence

Controller for teleoperation with force reflecting telepresence is an important man-machine interface for a master-slave manipulation system; it can convey information such as position, orientation, velocity and force to remote manipulator and receive force/torque information to provide operators force reflecting telepresence. Its performance will directly influence transparency and stability of the teleoperation system, and delivering effective force-reflecting feedback is the key point in research and design. The key technologies in design of controller with force-reflecting telepresence is analyzed and studied. Analysis on performance requirements such as position control accuracy, dynamic characteristic and isotropy of the controller, stability, human system engineering index is conducted and research on structure type, isotropy and structure nonsingularity of structure design is carried out. And then the author compares the characteristics of various driving mode and studies measurement and control system's influence on performance of system. The results indicate that by adopting the structure, which is with mechanical decoupling and unchangeable inertia as operation, the control algorithm will be simplified. The results can be used as a reference for the research and development of this type of device.